├── GRIDSimDiv3.mp4 ├── README.md ├── TesisAlgorithmFlow.drawio ├── TesisPythonTry ├── AuctionAlgorithmReplica.py ├── GRIDassgmtFunctions.py ├── TEST.py ├── TesisModelFunctions.py ├── TesisModelRun.py ├── __pycache__ │ ├── GRIDassgmtFunctions.cpython-37.pyc │ ├── GRIDassgmtFunctions.cpython-39.pyc │ ├── TesisModelFunctions.cpython-37.pyc │ ├── TesisModelFunctions.cpython-39.pyc │ └── functionsGRIDassgmt.cpython-37.pyc ├── jsonTograph.py └── sound.mp3 ├── TesisSimGRIDadaptedDiv3.mp4 ├── TesisSimVideo.mp4 ├── TesisSimWorkingDiv1.mp4 ├── TesisSimWorkingDiv2.mp4 ├── TesisSimWorkingDiv3.mp4 ├── TesisSimWorkingDiv4.mp4 ├── jsons ├── GRIDDivsGRID1.json ├── GRIDFleetGRID1.json ├── dummy.json ├── tesisDivsGRID1.json ├── tesisDivsGRID2.json ├── tesisDivsGRID3.json ├── tesisDivsGRID4.json ├── tesisFleetGRID1.json ├── tesisFleetGRID2.json ├── tesisGRIDDivsGRID1.json ├── tesisGRIDDivsGRID2.json ├── tesisGRIDDivsGRID3.json ├── tesisGRIDDivsGRID4.json ├── tesisGRIDFleetGRID1.json ├── tesisGRIDFleetGRID2.json └── tesisGRIDFleetGRID3.json └── propuestaAsignacion.drawio /GRIDSimDiv3.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsgonzalez15/DistributedTargetAssgmt/5c76d472222254e75ffd87f7632b3eb034ee3476/GRIDSimDiv3.mp4 -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Distributed Target Assgmt 2 | ## Descripción 3 | El proyecto se realiza para simular el desempeño energético de un algoritmo de control distribuido para flotas de vehículos con restricciones energéticas. El algoritmo consiste en la partición del área de operación en nodos con líderes para asignación intranodal e internodal. Cada vehículo conoce la información inicial de la misión y la información actualizada de su nodo. Los líderes realizan asignaciones según el consumo estimado con la distancia de cada vehículo y el consumo por distancia respectivo. 4 | ## Contenidos en Simulación 5 | Réplica del método distribuido GRID target Assignment y su extensión a asignación de tareas no monotónicas: Smith, Stephen Leslie. Task allocation and vehicle routing in dynamic environments. University of California, Santa Barbara, 2009. 6 | 7 | Simulación de propuesta de algoritmo de control distribuido con planteamiento de grafos cómo mejora de GRID target Assgmt a asignación no monotónica con restricciones energéticas, despliegue y recolección en puntos de recolección. 8 | 9 | Simulación de asignación internodal GRID adaptada a algoritmo propuesto para comparación directa de desempeño. 10 | 11 | Simulación de consumo promedio para variación en tamaño de la flota y variación de número de particiones GRID junto con la desviación respectiva. 12 | 13 | ## Ejecución y resultados 14 | Para ejecutar el algoritmo únicamente es necesario eejcutar el archivo TesisModelRun. En este archivo pueden modificarse las variables booleanas para obtener un video de la simulación y simular alguno de los algoritmos propuestos. Es posible variar la cantidad de objetivos, divisiones del área de operaciones, número de objetivos por vehículo y número de puntos de recolección. Los resultados de esta simulación se almacenan en archivos JSON para la obtención de gráficas asociadas. 15 | -------------------------------------------------------------------------------- /TesisAlgorithmFlow.drawio: -------------------------------------------------------------------------------- 1 | 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-------------------------------------------------------------------------------- /TesisPythonTry/AuctionAlgorithmReplica.py: -------------------------------------------------------------------------------- 1 | """ 2 | Réplica del Auction Algorithm y su adaptación al problema de asignación UAV a objetivos 3 | 4 | @author: Juan Sebastián González Rojas 201612109 5 | @email: js.gonzalez15@uniandes.edu.co 6 | """ 7 | import numpy as np 8 | from numpy import doc 9 | import GRIDassgmtFunctions as GRIDFcns 10 | from matplotlib import pyplot as plt 11 | import cv2 12 | from mpl_toolkits import mplot3d 13 | import time 14 | import json 15 | 16 | ## Asymmetric implementation: n_v < n_t 17 | 18 | nv=12 19 | nt=4 20 | Amatrix=np.random.rand(nv,nt)*100 #matrix of benefits 21 | Pvector=np.zeros((1,nt))+0.000001 #initial vector of bidding cost 22 | Passignments=np.zeros((1,nt))-1 #initial pairs of assignment 23 | unassignedIndex=np.array(range(nv)) #vector of unassigned vehicle indexes 24 | assignedIndex=np.delete(np.array(range(nv)),unassignedIndex) 25 | 26 | AmatrixIter=np.array(Amatrix) #matrix of unassigned vehicle benefits 27 | epsilon=2 28 | 29 | while(not unassignedIndex.shape[0]==0): 30 | 31 | ##------------------------------- Bidding Fase 32 | if not assignedIndex.shape[0]==0: 33 | AmatrixIter=np.delete(Amatrix,assignedIndex,0) 34 | unassignedIndex=np.delete(np.array(range(nv)),assignedIndex,0) 35 | else: 36 | AmatrixIter=np.array(Amatrix) 37 | BmatrixIter=np.zeros((AmatrixIter.shape[0],nt)) #zero bidding matrix init 38 | AmatrixIter=AmatrixIter-(Pvector+np.zeros((AmatrixIter.shape[0],1))) #absolute benefit of each target 39 | 40 | vW=np.partition(AmatrixIter,-2) #first and second most valuable targets for selection 41 | vWdeltas= vW[:,-1]-vW[:,-2] #delta first-second for each vehicle 42 | AmatrixIterMax=np.max(AmatrixIter,axis=1) 43 | for i in range(nv-assignedIndex.shape[0]): #filling the Bmatrix 44 | colIndex=int(np.where(AmatrixIter[i,:]==AmatrixIterMax[i])[0]) #index of current bet 45 | bid=vWdeltas[i]+Pvector[0,colIndex]+epsilon 46 | BmatrixIter[i,colIndex]=bid 47 | ##------------------------------- Assignment Fase 48 | BmaxIter=np.max(BmatrixIter,axis=0) #bets in current iteration 49 | Pupdate=Pvector0))[0]] #V-T pairs 52 | Passignments[np.where(Pupdate==True)]=Vupdate #V-T pair update 53 | assignedIndex=Passignments[np.where(Passignments!=-1)] 54 | 55 | -------------------------------------------------------------------------------- /TesisPythonTry/GRIDassgmtFunctions.py: -------------------------------------------------------------------------------- 1 | """ 2 | Métodos para réplica de GRID Target Assgmt. 3 | 4 | Funciones: 5 | * CurrentCell funcion para obtener id de celda actual. 6 | * UAVandTargetInCell funcion que retorna UAVs y targets en la celda actual. 7 | * initialScatter gráfica inicial, organización de información y relacion visual de información. 8 | * anima función para animar escenario y movimiento de UAVs. 9 | * CalcularParametrosEnergeticos calcula el radio de operación de despliegue, el consumo y la velocidad optimos según parámetros del UAV. 10 | 11 | @author: Juan Sebastián González Rojas 201612109 12 | @email: js.gonzalez15@uniandes.edu.co 13 | """ 14 | from matplotlib import pyplot as plt 15 | from matplotlib import animation 16 | import numpy as np 17 | import math 18 | from scipy import constants 19 | 20 | def CurrentCell(p:list,C:list,radOper:int,div:int)->int: 21 | #Retorna la celda actual del UAV 22 | currentColumn=math.ceil((p[0]/(radOper/1000))*div)-1 #columna actual 23 | currentLine=div-math.ceil((p[1]/(radOper/1000))*div) #fila actual 24 | if currentColumn<0: 25 | currentColumn=0 26 | if currentLine<0: 27 | currentLine=0 28 | if currentLine==div: 29 | currentLine=div-1 30 | if currentColumn==div: 31 | currentColumn=div-1 32 | yourCell=C[currentLine][currentColumn] #celda actual 33 | return yourCell 34 | 35 | def uavAndTargetInCell(cellOfIter:int,initialUAVs:list,places:list,C:list,radOper:int,div:int)->list: 36 | #Retorna posiciones de UAVs y Objetivos dentro de la celda especificada 37 | #Retorna la cantidad de UAVs dentro de la celda 38 | #Retorna los indices en initialUAVs para posterior actualizacion 39 | 40 | CurrentCellInfo=[] #Matriz con ubicaciones (UAVs primero Targets despues) 41 | indicesUAVinCell=[] #Vector con indices de UAVs encontrados en initialUAVs 42 | indicesTargetInCell=[] #Vector con indices de Targets encontrados en places 43 | for j in range(len(initialUAVs)): #filas equivalentes a # de UAVs 44 | if CurrentCell(initialUAVs[j,:],C,radOper,div)==cellOfIter: 45 | CurrentCellInfo.append(initialUAVs[j,:]) 46 | indicesUAVinCell.append(j) 47 | nUAVsInCell=(np.array(CurrentCellInfo)).shape[0] 48 | for k in range(len(places)): 49 | if CurrentCell(places[k,:],C,radOper,div)==cellOfIter: 50 | CurrentCellInfo.append(places[k,:]) 51 | indicesTargetInCell.append(k) 52 | return [CurrentCellInfo,nUAVsInCell,indicesUAVinCell,indicesTargetInCell] 53 | 54 | def initialScatter (places,initialUAVs,initialUAVsZero,div,radOper,C,autom,video): 55 | # Generacion visual de GRID utilizando meshgrid 56 | gridNodes=np.array(range(0,int(round(radOper/1000))+1,int(round(radOper/(1000*div))))) 57 | 58 | [Xb,Yb]=np.meshgrid(gridNodes,gridNodes) 59 | plt.cla() #Se borra información anterior al ploteo actual 60 | plt.scatter(places[:,0],places[:,1],marker='o',c='None', edgecolor='red',linewidth=0.7,label='Objetivos') 61 | plt.scatter(initialUAVs[:,0],initialUAVs[:,1], marker='x',color='b',linewidth=0.7,label='UAVs') 62 | for j in range(initialUAVs.shape[0]): 63 | plt.plot([initialUAVsZero[0,0],initialUAVs[0,0]],[initialUAVsZero[0,1],initialUAVs[0,1]],'b--',linewidth=0.5) 64 | 65 | plt.plot([initialUAVsZero[0,0],initialUAVs[0,0]],[initialUAVsZero[0,1],initialUAVs[0,1]],'b--',linewidth=0.5) 66 | plt.plot(Xb,Yb,'k--',linewidth=1) 67 | plt.plot(Yb,Xb,'k--',linewidth=1) 68 | plt.xlabel('x (km)') 69 | plt.ylabel('y (km)') 70 | plt.title('Evolución de envios distribuidos') 71 | plt.legend() 72 | plt.gcf().canvas.draw() 73 | #if not video: 74 | #print("InitialScatter says: not Showing for now") 75 | #plt.show() 76 | 77 | def anima(): 78 | objeto=animation.FuncAnimation(plt.figure(1),initialScatter,10000) #plt.gcf get currently figure Animar las figuras por parámetro de manera iterativa 79 | plt.show() 80 | 81 | def CalcularParametrosEnergeticos()->list: 82 | w=21 #Peso [kg] 83 | b=0.860 #Ancho frontal [m] 84 | A=0.530*0.480 #Area frontal [m**2]# 85 | varSigma=0.430*0.480 #Area superior [m**2] 86 | 87 | g=constants.value('standard acceleration of gravity')#[m/(s**2)] 88 | T=w*g #Empuje (Peso) [N] 89 | v=18 #Velocidad (UAV-aire) [m/s] 90 | Cd=0.45 # Coeficiente aerodinamico de arrastre 91 | 92 | Temperature=[8,32] #Temperatura [°C] 93 | Humidity=[0.65,0.95] #Densidad de H2O 94 | Pressure=[600,1200] #Presion [hPa] (Valores esperados) 95 | 96 | #Densidad del aire minima y maxima esperada en kg/m**3 97 | Dmin=(0.34848*Pressure[0]-0.009*Humidity[1]*np.exp(0.061*Temperature[1]))/(273.15+Temperature[1]) 98 | Dmax=(0.34848*Pressure[1]-0.009*Humidity[0]*np.exp(0.061*Temperature[0]))/(273.15+Temperature[0]) 99 | 100 | #Consumo estatico min y max 101 | [pmin,pmax]=[(T**1.5)/((2*Dmax*varSigma)**0.5),(T**1.5)/((2*Dmin*varSigma)**0.5)] 102 | p=pmax 103 | #Consumo velocidad maxima min y max 104 | [Ptmin,Ptmax]=[0.5*Cd*A*Dmin*(v**3)+(w**2)/(Dmin*v*b**2),0.5*Cd*A*Dmax*(v**3)+(w**2)/(Dmax*v*b**2)] 105 | Pt=Ptmax #consumo velocidad maxima 106 | #Velocidad con menor consumo min y max 107 | [vOptimum,vOptimum2]=[((2*w**2)/(Cd*A*(b*Dmax)**2))**0.25,((2*w**2)/(Cd*A*(b*Dmin)**2))**0.25] 108 | #Consumo optimo 109 | [PtOptimum,PtOptimum2]=[0.5*Cd*A*Dmax*(vOptimum**3)+(w**2)/(Dmax*vOptimum*b**2),0.5*Cd*A*Dmin*(vOptimum2**3)+(w**2)/(Dmin*vOptimum2*b**2)] 110 | PtOptimum=PtOptimum/0.8 #eficiencia de motores UAV 111 | 112 | capBattery=266 #Cap. bateria [Wh] 113 | timeHovering=11*60 #duracion vuelo estatico (21kg) 114 | capJoules=capBattery*3600 #cap. estimada [J] 115 | pHovering=capJoules/timeHovering #consumo en W de vuelo estatico con 21kg 116 | 117 | maxDistance=(capJoules/Pt)*v # Distancia velocidad maxima 118 | maxDistanceOpt=(capJoules/PtOptimum)*vOptimum# Distancia velocidad optima 1 119 | maxDistanceOpt2=(capJoules/PtOptimum2)*vOptimum2# Distancia velocidad optima 2 120 | # Radio de operaciones en m para densidades 121 | radOper=maxDistanceOpt*0.95/2 122 | radOper2=maxDistanceOpt2*0.95/2 123 | return [radOper,PtOptimum,vOptimum,capJoules] -------------------------------------------------------------------------------- /TesisPythonTry/TEST.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from numpy import doc 3 | import GRIDassgmtFunctions as GRIDFcns 4 | from matplotlib import pyplot as plt 5 | import cv2 6 | from mpl_toolkits import mplot3d 7 | import time 8 | import json 9 | [radOper,PtOptimum,vOptimum,capJoules]=GRIDFcns.CalcularParametrosEnergeticos() 10 | print(radOper) 11 | print(PtOptimum) 12 | print(vOptimum) 13 | print(capJoules/3600) 14 | 15 | 16 | w=np.ones(10) 17 | wIter=np.c_[w,w*2,w,w] 18 | w[0]=5 19 | Amatrix=np.random.rand(10,6)*100 20 | asignE= Amatrix<200 21 | asigned=np.zeros((Amatrix.shape[0],Amatrix.shape[1])) 22 | asignPtoR=np.dot(np.ones((1,asignE.shape[0])),asignE)==0 23 | ''' 24 | print("asignE: ",asignE) 25 | for row in range(Amatrix.shape[0]): 26 | infArc=100000.0 #arco con valor infinito (no será considerado para calcular arcos minimos) 27 | asignEdeleted=np.dot(np.ones((1,asignE.shape[0])),asignE)==0 28 | if row==Amatrix.shape[1]: 29 | break 30 | #arcos restantes (sin p asignados, sus arcos y arcos de q respectivos) 31 | remainingArcs=Amatrix+(asignE-1)*(-1)*infArc+asigned*infArc 32 | #print("remainingArcs: ",remainingArcs) 33 | currMin=np.min(remainingArcs) #arco mínimo global por q para todo p 34 | if currMin>=infArc: 35 | break 36 | #print("arcos minimos", currMin) 37 | deleteNonMax=remainingArcs==currMin #matriz booleana actual para eliminar arcos desde q y desde p 38 | [rowIndex,colIndex]=np.where(remainingArcs==currMin) #indice de p seleccionado 39 | rowIndex=np.array(rowIndex)[0] 40 | colIndex=np.array(colIndex)[0] 41 | 42 | asignE[rowIndex,:]=asignE[rowIndex,:]*False #eliminado de arcos no mínimos desde q 43 | asignE[:,colIndex]=asignE[:,colIndex]*False #eliminado de arcos no mínimos desde p 44 | asigned[rowIndex,colIndex]=True 45 | print("asigned: ") 46 | print(asigned) 47 | print("Amatrix:") 48 | print(Amatrix) 49 | 50 | ey=np.array([[7,8,9,4,5,6,1,2,3]]) 51 | currentLine=np.where(ey==6) 52 | print(len(range(4))) 53 | 54 | kpiFleet=np.array([33.683540299170986,30.30852352550388, 28.44059206353354, 29.864682358704176]) 55 | print("fleet",np.mean(kpiFleet), np.std(kpiFleet)) 56 | kpiDiv=np.array([27.321822666448412, 30.645665006211054, 30.938761468283566, 30.31597776423304]) 57 | print("div",np.mean(kpiDiv), np.std(kpiDiv)) 58 | 59 | GRIDkpiFleet=np.array([40.67266478917134, 38.09069102438195, 35.64525498029396, 37.809084534931436]) 60 | print("fleetGRID",np.mean(GRIDkpiFleet), np.std(GRIDkpiFleet)) 61 | GRIDkpiDiv=np.array([27.297148625465045, 32.88229813232855, 36.68073664169082, 38.5140722451969]) 62 | print("divGRID",np.mean(GRIDkpiDiv), np.std(GRIDkpiDiv)) 63 | 64 | ABC=np.array([[1,2],[4,12],[5,1],[1,0]]) 65 | abcmax=np.arange(4) 66 | comparison=np.where(ABC==abcmax) 67 | print("heeeelp me")''' 68 | 69 | vmin=0 70 | vmax=5 71 | rpm=np.linspace(1000,10000,10000) 72 | v1=5 73 | v2=5 74 | T1 = ((v1 - vmin) / (vmax - vmin))*5 #* (tmax1 - tmin1) 75 | T2 = ((v2 - vmin) / (vmax - vmin))*4.3 #* (tmax2 - tmin2) 76 | print('T2:', T2) 77 | TretardoAltas = 0.052 * rpm 78 | TretardoBajas = -0.4526 * rpm + 3621 79 | print(3621/0.4526) 80 | 81 | ##-----------------suma de funciones lineales escaladas para Tretardo 82 | Tretardo = T1 * TretardoAltas/1000 + T2 * TretardoBajas/1000 83 | Tretardo=Tretardo*1000 84 | plt.plot(rpm,TretardoAltas,label="T_high") 85 | plt.plot(rpm,TretardoBajas,label="T_low") 86 | plt.plot(rpm,Tretardo,label="T") 87 | plt.legend() 88 | plt.grid() 89 | plt.show() 90 | -------------------------------------------------------------------------------- /TesisPythonTry/TesisModelFunctions.py: -------------------------------------------------------------------------------- 1 | """ 2 | Métodos para propuesta de modelo distribuido para Flota de UAV's. 3 | 4 | Funciones: 5 | * initialScatter gráfica inicial, organización de información y relacion visual de información. 6 | 7 | @author: Juan Sebastián González Rojas 201612109 8 | @email: js.gonzalez15@uniandes.edu.co 9 | """ 10 | from matplotlib import pyplot as plt 11 | from matplotlib import animation 12 | import numpy as np 13 | import math 14 | 15 | def initialScatter (q,r,p,pZero,div,radOper,C,autom,video,qMet): 16 | # Generacion visual de GRID utilizando meshgrid 17 | gridNodes=np.linspace(0,radOper/1000,div+1) 18 | 19 | ''' CONVERTIR PLOT DE DIVISIONES EN UNA FUNCION''' 20 | ##--------------------------------------PLOTEO PARA CUADRÍCULAS----------------------------------------## 21 | [Xb,Yb]=np.meshgrid(gridNodes,gridNodes) 22 | plt.cla() #Se borra información anterior al ploteo actual 23 | plt.plot(Xb,Yb,'k--',linewidth=1) 24 | plt.plot(Yb,Xb,'k--',linewidth=1) 25 | ##------------------------------------------------------------------------------------------------------## 26 | 27 | plt.scatter(q[:,0],q[:,1],marker='o',c='None', edgecolor='red',linewidth=0.7,label='Objectives') 28 | plt.scatter(p[:,0],p[:,1], marker='x',color='b',linewidth=0.7,label='UAVs') 29 | plt.scatter(r[:,0],r[:,1], c='None', marker='h',edgecolor='g',linewidth=0.7,label='Recolectors') 30 | if not qMet.shape[0]==0: 31 | plt.scatter(qMet[:,0],qMet[:,1],marker='o',c='None', edgecolor='gray',linewidth=0.7,label='Q Supplied') 32 | 33 | #plt.plot([pZero[0,0],p[0,0]],[pZero[0,1],p[0,1]],'b--',linewidth=0.5) 34 | plt.xlabel('x (km)') 35 | plt.ylabel('y (km)') 36 | ''' CONDICIONAR TITLE SEGUN PARTICION''' 37 | plt.title('Evolution of distributed deployment') 38 | plt.legend() 39 | plt.gcf().canvas.draw() 40 | #plt.show() 41 | #if not video: 42 | #print("InitialScatter says: not Showing for now") 43 | #plt.show() 44 | 45 | def pqrInNode(theNode:int,p:list,q:list,r:list,C:list,radOper:int,div:int,divMethod:str)->list: 46 | #Retorna posiciones de UAVs, UAVs no Asignados, Objetivos y Recolector asignados al nodo recibido 47 | #Retorna los indices en matrices p y q para posterior actualizacion 48 | 49 | pInNode=[] #Matriz con ubicaciones de UAVs en nodo 50 | pInNodeUnassigned=[] #Matriz con ubicaiones de UAVs en nodo (IMPLEMENTAR) 51 | qInNode=[] #Matriz con ubicaciones de objetivos en nodo 52 | indexP=[] #Vector con indices de UAVs encontrados en matriz p 53 | indexQ=[] #Vector con indices de Objetivos encontrados en matriz q 54 | 55 | for j in range(len(p)): #filas equivalentes a # de UAVs 56 | [yourNode,center]=currentNode(p[j,:],C,radOper,div,divMethod) 57 | if yourNode==theNode: 58 | pInNode.append(p[j,:]) 59 | indexP.append(j) 60 | for k in range(len(q)): #filas equivalentes a # de Objetivos 61 | if currentNode(q[k,:],C,radOper,div,divMethod)[0]==theNode: 62 | qInNode.append(q[k,:]) 63 | indexQ.append(k) 64 | 65 | return [np.array(pInNode), indexP, np.array(qInNode), indexQ] 66 | 67 | def currentNode(p:list,C:list,radOper:int,div:int, divMethod:str)->list: 68 | #Retorna el numero del nodo y las coordenadas de su centro para el p recibido 69 | 70 | if divMethod=="GRID": #Particion de nodo en cuadriculas 71 | currentColumn=math.ceil((p[0]/(radOper/1000))*div)-1 #columna actual 72 | currentLine=div-math.ceil((p[1]/(radOper/1000))*div) #fila actual 73 | #centro de nodo en división del método GRID 74 | center=[((currentColumn+0.5)*radOper/1000)/div,((currentLine+0.5)*radOper/1000)/div] 75 | 76 | #condicionales para casos excepcionales 77 | if currentColumn<0: 78 | currentColumn=0 79 | if currentLine<0: 80 | currentLine=0 81 | if currentLine>=div: 82 | currentLine=div-1 83 | if currentColumn>=div: 84 | currentColumn=div-1 85 | yourNode=C[currentLine][currentColumn] #celda actual 86 | return [yourNode,center] -------------------------------------------------------------------------------- /TesisPythonTry/__pycache__/GRIDassgmtFunctions.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsgonzalez15/DistributedTargetAssgmt/5c76d472222254e75ffd87f7632b3eb034ee3476/TesisPythonTry/__pycache__/GRIDassgmtFunctions.cpython-37.pyc -------------------------------------------------------------------------------- /TesisPythonTry/__pycache__/GRIDassgmtFunctions.cpython-39.pyc: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /TesisPythonTry/__pycache__/functionsGRIDassgmt.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsgonzalez15/DistributedTargetAssgmt/5c76d472222254e75ffd87f7632b3eb034ee3476/TesisPythonTry/__pycache__/functionsGRIDassgmt.cpython-37.pyc -------------------------------------------------------------------------------- /TesisPythonTry/jsonTograph.py: -------------------------------------------------------------------------------- 1 | """ 2 | Métodos para visualizar datos de simulación de caracterización. 3 | 4 | @author: Juan Sebastián González Rojas 201612109 5 | @email: js.gonzalez15@uniandes.edu.co 6 | """ 7 | import json 8 | from matplotlib import pyplot as plt 9 | from matplotlib import rc 10 | import numpy as np 11 | from matplotlib import rc 12 | 13 | import matplotlib as mpl 14 | import matplotlib.font_manager as font_manager 15 | 16 | # Nombres de archivos JSON según información almacenada de simulaciones 17 | # Nomenclatura: AlgoritmoAnalisisParticionID 18 | # ej: tesisDivsGRID1 Algoritmo: Propuesta Tesis, Análisis: Variar Particiones, Partición: GRID, ID:1 19 | glosario=[["tesisDivsGRID1.json","tesisDivsGRID2.json","tesisDivsGRID3.json","tesisDivsGRID4.json","tesisFleetGRID1.json","tesisFleetGRID2.json"]] 20 | glosario.append(["tesisGRIDDivsGRID1.json","tesisGRIDDivsGRID2.json","tesisGRIDDivsGRID3.json","tesisGRIDDivsGRID4.json","tesisGRIDFleetGRID1.json","tesisGRIDFleetGRID2.json"]) 21 | glosario.append(["GRIDDivsGRID1.json","GRIDDivsGRID2.json","GRIDFleetGRID1.json","GRIDFleetGRID2.json"]) 22 | 23 | legends=[""," (GRID)"] 24 | colors=["r","b"] 25 | plt.rcParams['font.family'] = 'Nimbus Roman No9 L' 26 | plt.rcParams['pdf.fonttype'] = 42 27 | 28 | for comparing in range(0,2): 29 | reading=glosario[comparing][3] 30 | print("//---------------------------------//") 31 | print(reading) 32 | json_file=open("./jsons/"+ reading,"r",encoding="utf-8") 33 | simData=json.load(json_file) 34 | json_file.close() 35 | 36 | print(simData["info"]) 37 | #npArrayData=np.array(simData["dataP"]) #promedios de simulación por cada p 38 | npArrayData=np.array(simData["w_min"]) #valores mínimos de simulación para todo p 39 | #npArrayDesv=np.array(simData["desvP"]) #desviación estándar de simulación 40 | #npArrayDataTotal=np.array(simData["dataPTotal"]) #promedios de simulación total de la flota 41 | #npArrayDesvTotal=np.array(simData["desvPTotal"]) #desviación estándar de simulación 42 | wmin=266*0.05 43 | #averageDistributed=np.mean(npArrayData[:8,1:]) 44 | #averageCentralized=np.mean(npArrayData[:8,0]) 45 | #print(averageDistributed-averageCentralized) 46 | 47 | valid=8 48 | npArrayData=npArrayData[:valid,:]#int(simData["qperUAV"]),:] 49 | #npArrayDataTotal=npArrayDataTotal[:valid,:]#int(simData["qperUAV"]),:] 50 | #npArrayDesv=npArrayDesv[:valid,:]#int(simData["qperUAV"]),:] 51 | #npArrayDesvTotal=npArrayDesvTotal[:valid,:]#int(simData["qperUAV"]),:] 52 | 53 | nP=round(int(simData["nQ"])/int(simData["qPerUAV"])) 54 | #deltaIter=npArrayData[1:]-npArrayData[0:-1] 55 | #deltaDesv=np.sqrt(np.add(np.square(npArrayDesv[1:]),np.square(npArrayDesv[0:-1]))) 56 | 57 | divs=np.array([1,2,3,4]) #Divisiones utilizadas en simulación 58 | theFleet=np.array(range(45,110,15)) 59 | 60 | #rc('text', usetex=True) 61 | 62 | #rc('text.latex', preamble=r'\usepackage{cmbright}') 63 | #for column in range(divs.shape[0]): #npArrayData.shape[1] 64 | if "Fleet" in reading: 65 | for fleetSize in range(4): 66 | #Gráfica de promedios UAV 67 | plt.plot(np.array(range(npArrayData.shape[0])),npArrayData[:,fleetSize],label="$n_q= $"+str(theFleet[fleetSize])) 68 | #Gráfica de promedios total 69 | #plt.plot(np.array(range(npArrayDataTotal.shape[0])),npArrayDataTotal[:,fleetSize],label="$n_q= $"+str(theFleet[fleetSize])) 70 | 71 | #Gráfica de consumo por iteración 72 | #plt.errorbar(np.array(range(1,deltaIter.shape[0]+1)),deltaIter[:,fleetSize],yerr=npArrayDesv[1:,fleetSize],capsize=5,label="$n_q= $"+str(theFleet[fleetSize])) 73 | 74 | #Gráfica de evolución acumulado de consumo 75 | #if comparing ==0: 76 | #plt.errorbar(np.array(range(1,npArrayData.shape[0]+1)),npArrayData[:,fleetSize],yerr=npArrayDesv[:,fleetSize],capsize=5,label="DE-GA, $n_q= $"+str(theFleet[fleetSize]), linewidth=2) 77 | #else: 78 | #plt.errorbar(np.array(range(1,npArrayData.shape[0]+1)),npArrayData[:,fleetSize],yerr=npArrayDesv[:,fleetSize],capsize=5,label="Grid, $n_q= $"+str(theFleet[fleetSize]), linestyle="--") 79 | #plt.title('KPI Performance in 250 Simulations ($n= 9$'+", $n_q$ / $n_v=$ "+str(simData["qPerUAV"])+")") 80 | #plt.title('Iteration Total Consumption per UAV ($n_q=$ '+simData["nQ"]+", $n_v:$ "+str(nP)+")") 81 | 82 | #Gráfica de evolución acumulado de consumo total 83 | #plt.errorbar(np.array(range(npArrayDataTotal.shape[0])),npArrayDataTotal[:,fleetSize], yerr=npArrayDesvTotal[:,fleetSize], capsize=5, label="$n_q= $"+str(theFleet[fleetSize])) 84 | 85 | else: 86 | for column in range(4): 87 | #Gráfica de promedios UAV 88 | #plt.plot(np.array(range(npArrayData.shape[0])),npArrayData[:,column],label="$n =$"+str(divs[column]**2)) 89 | if comparing==0: 90 | plt.plot(np.array(range(npArrayData.shape[0]))+1,npArrayData[:,column],label="DE-GA, $n =$"+str(divs[column]**2)) 91 | else: 92 | plt.plot(np.array(range(npArrayData.shape[0]))+1,npArrayData[:,column], label="GRID, $n =$"+str(divs[column]**2)) 93 | 94 | #Gráfica de promedios total 95 | #plt.plot(np.array(range(npArrayDataTotal.shape[0])),npArrayDataTotal[:,column],label="$n =$"+str(divs[column]**2)) 96 | 97 | #Gráfica de consumo por iteración 98 | #plt.errorbar(np.array(range(1,deltaIter.shape[0]+1)),deltaIter[:,column],yerr=npArrayDesv[1:,column],capsize=5,label="$n =$"+str(divs[column]**2)) 99 | 100 | #Gráfica de evolución acumulado de consumo 101 | #plt.errorbar(np.array(range(npArrayData.shape[0])),npArrayData[:,column],yerr=npArrayDesv[:,column],capsize=5,label="$n =$"+str(divs[column]**2)) 102 | 103 | #Gráfica de evolución acumulado de consumo total 104 | #if comparing ==0: 105 | # plt.errorbar(np.array(range(1,npArrayDataTotal.shape[0]+1)),npArrayDataTotal[:,column], yerr=npArrayDesvTotal[:,column], capsize=5, label="DE-GA, $n$ = "+str(divs[column]**2), linewidth=2) 106 | #else: 107 | # plt.errorbar(np.array(range(1,npArrayDataTotal.shape[0]+1)),npArrayDataTotal[:,column], yerr=npArrayDesvTotal[:,column], capsize=5, label="Grid, $n$ = "+str(divs[column]**2), linestyle="--") 108 | 109 | #plt.title('Iteration Total Consumption for UAV fleet ($n =$ 3, $n_q$ / $n_v=$ 6)') 110 | #plt.title('KPI Performance for 250 Simulations ($n_q= $'+simData["nQ"]+", $n_v$= "+str(nP)+")") 111 | plt.title('Min energy storage available in fleet ($n_q= $'+simData["nQ"]+", $n_v$= "+str(nP)+")") 112 | 113 | 114 | #print("Average consumption per iteration:",npArrayData) 115 | #print("Maximum deviation of simulation: ",np.max(npArrayDesv)) 116 | 117 | ''' CONDICIONAR TITLE SEGUN PARTICION''' 118 | plt.plot(np.array(range(npArrayData.shape[0]))+1,np.ones(npArrayData.shape[0])*wmin,label="$w_{min}$",linestyle="--",color="k") 119 | plt.xlabel('Iteration of Simulation') 120 | plt.ylabel('Energy storage (Wh)') 121 | plt.legend() 122 | plt.grid() 123 | plt.show() -------------------------------------------------------------------------------- /TesisPythonTry/sound.mp3: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsgonzalez15/DistributedTargetAssgmt/5c76d472222254e75ffd87f7632b3eb034ee3476/TesisPythonTry/sound.mp3 -------------------------------------------------------------------------------- /TesisSimGRIDadaptedDiv3.mp4: -------------------------------------------------------------------------------- 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